A compact robot joint reducer and joint device

Abstract

The application relates to a compact robot joint speed reducer and a joint device, which comprises a primary sun gear, a secondary sun gear, a primary planetary gear set, a secondary planetary gear set, an inner tooth box mounting disc, a bipolar inner tooth box, an input flange, an output flange and a brake module. The brake module comprises a first bearing, a driving piece, a brake piece and a wire group limiting piece. The inner hole of the output flange has a stepped portion, the outer ring of the first bearing is fixed on the stepped portion, the wire group limiting piece is arranged on the inner ring of the first bearing and is used for limiting the wire group passing through, the brake piece is arranged opposite to the secondary sun gear, the brake piece is slidably connected to the inner ring through a sliding rod and the driving piece is used for driving the brake piece to move. The brake module is integrated on the stepped portion of the inner hole of the output flange, the space inside the output flange is fully utilized, the brake function is realized without increasing the axial size of the speed reducer, and the compactness requirement of the robot joint is met.

Description

Technical Field

[0001] This invention relates to the field of speed reducers, and in particular to a compact robot joint speed reducer and joint device. Background Technology

[0002] With the widespread application of robotics technology in industries such as manufacturing, healthcare, and services, the performance of joint reducers directly determines the robot's motion accuracy, load capacity, and service life.

[0003] Planetary reducers are widely used in robot joint reducers due to their advantages of high-efficiency transmission, compact structure, high precision, and strong load-bearing capacity. Two-stage planetary reducers, with their two-stage sun gear and planetary gear sets, offer even better reduction performance. Furthermore, since robot joints typically need to perform complex movements within a limited space, the reducer must be designed to be as compact as possible to adapt to these space constraints. Additionally, to improve the robot's external aesthetics, through-holes for control wires must be provided in the internal sun gear, further increasing the complexity of the already compact structure.

[0004] The invention patent with announcement number CN113500624B discloses a robot joint with a front-mounted brake and a collaborative robot. The robot joint includes a joint shell, a reducer assembly, a drive motor, and a brake. The motor shaft of the drive motor is connected to the input end of the reducer assembly. The brake is located between the reducer assembly and the drive motor. The brake includes a brake disc, a friction pad, and an armature. The friction pad is fixed to the motor shaft and rotates with it. The brake disc can attract or release the armature according to the power-on / off state. The reducer assembly includes a reducer body and a flexible wheel cover covering the reducer body. The flexible wheel cover circumferentially contacts the joint shell, and the brake disc is in contact with the flexible wheel cover.

[0005] In the event of a sudden power outage, control system malfunction, or emergency (such as collision detection) during robot operation, a brake is usually required to prevent the robotic arm from continuing to move due to gravity or inertia. Traditional external brakes inevitably increase the axial or radial dimensions, limiting the compactness of the robot joints, while traditional internal brakes are difficult to adapt to the complex internal structure of a two-stage planetary reducer. Summary of the Invention

[0006] In order to fully integrate the brake into the reducer without increasing the axial dimension of the reducer, this application provides a compact robot joint reducer and joint device.

[0007] The compact robot joint reducer provided in this application adopts the following technical solution:

[0008] A compact robot joint reducer and joint device includes a primary sun gear, a secondary sun gear, a primary planetary gear set, a secondary planetary gear set, a bipolar internal gearbox, an input flange, an output flange, and a braking module. The bipolar internal gearbox meshes with the primary and secondary planetary gear sets respectively. The primary sun gear serves as the input power for the primary planetary gear set and meshes with it. The secondary sun gear serves as the input power for the secondary planetary gear set and meshes with it. The secondary sun gear is fixedly connected to the planet carrier of the primary planetary gear set. The input flange is connected to the primary sun gear, and the output flange is connected to the planet carrier of the secondary planetary gear set. Through holes for power supply cables are provided on both the primary and secondary sun gears.

[0009] The braking module includes a first bearing, a driving component, a brake pad, and a wire group limiting component. The inner hole of the output flange has a stepped portion. The outer ring of the first bearing is fixedly mounted on the stepped portion. The wire group limiting component is mounted on the inner ring of the first bearing to restrict the wire group passing through. The brake pad is positioned opposite the secondary sun gear. The brake pad is movably connected to the outer ring of the first bearing along the axial direction of the input flange. The driving component is used to drive the brake pad to move.

[0010] By adopting the above technical solution, the braking module is integrated into the stepped part of the inner hole of the output flange, making full use of the space inside the output flange. The braking function is achieved without increasing the axial dimension of the reducer, thus meeting the compactness requirements of the robot joint. At the same time, the wire assembly restricts the wire assembly, which not only restricts the position of the wire assembly inside the joint, but also reduces the friction between the wire assembly and the first and second sun gears caused by the swaying of the wire assembly during robot movement, thus protecting the wire assembly and ensuring its stability. In addition, the wire assembly can also restrict the rotation of the inner ring of the first bearing, thereby providing conditions for the stable installation of the drive component.

[0011] Preferably, it also includes an internal gearbox mounting plate. The bipolar internal gearbox is fixed to the internal gearbox mounting plate with screws. The first-stage planetary gear set includes a first-stage planet carrier and several first-stage planetary gears. The several first-stage planetary gears are evenly arranged around the outer side of the first-stage sun gear and mesh with the first-stage sun gear. The several first-stage planetary gears are simultaneously meshed with the corresponding internal gear ring of the bipolar internal gearbox. The first-stage planetary gears are rotatably connected to the first-stage planet carrier via needle roller shafts. The first-stage planet carrier is rotatably connected to the bipolar internal gearbox via deep groove ball bearings. The first-stage sun gear is rotatably connected to the first-stage planet carrier via deep groove ball bearings. A bearing sleeve is welded onto the first-stage sun gear. The input flange is fixed to the bearing sleeve with screws.

[0012] The secondary planetary gear set includes a secondary planetary carrier and several secondary planetary gears. The several secondary planetary gears are evenly arranged around the outer circumference of the secondary sun gear and mesh with the secondary sun gear. The several secondary planetary gears are also meshed with the corresponding internal gear rings of the bipolar internal gearbox. The secondary planetary gears are rotatably connected to the secondary planetary carrier via needle roller shafts. The secondary planetary carrier is rotatably connected to the internal gearbox mounting plate via crossed roller bearings. The secondary sun gear is coaxially welded to the primary planetary carrier. The output flange is fixed to the end of the secondary planetary carrier with screws.

[0013] By adopting the above technical solution, the installation structure of the first-stage planetary gear set and the second-stage planetary gear set is disclosed. The reasonable use of needle roller shafts, deep groove ball bearings and crossed roller bearings can not only ensure the flexible rotation of planetary gears and planetary carriers, but also improve the load-bearing capacity and stability of the entire reducer.

[0014] Preferably, the driving component includes a reset component, an annular electromagnet, and a magnetic ring. The annular electromagnet is coaxially fixed on the side of the inner ring of the first bearing facing the secondary sun gear. The power supply line of the annular electromagnet and the power supply line of the input motor connected to the input flange are powered by the same power supply. The magnetic ring is coaxially fixed on the side of the brake pad away from the second sun gear. The annular electromagnet is directly opposite the magnetic ring, and the annular electromagnet attracts the magnetic ring when energized.

[0015] The outer ring of the first bearing is coaxially provided with an abutment block on the side facing the second sun gear. When the magnetic ring abuts against the abutment block, there is always a gap between the annular electromagnet and the magnetic ring. The reset member acts on the slide rod to drive the slide rod to move towards the second-stage sun gear.

[0016] By adopting the above technical solution, the cooperation between the annular electromagnet and the magnetic ring achieves rapid response and reliable braking of the brake pads. Since the annular electromagnet and the input motor power line are powered by the same power source, the annular electromagnet is always energized during normal operation, generating magnetic force to attract the magnetic ring. After being attracted, the magnetic ring is pressed against the abutment block and does not directly contact the annular electromagnet. Therefore, when the joint reducer is running, the magnetic ring rotates with the output flange. Under the action of the wire group limiting component, the annular electromagnet and the wire group remain almost relatively stationary. There is no direct friction between the annular electromagnet and the magnetic ring. At the same time, the magnetic ring is far away from the secondary sun gear and does not affect the movement of the secondary sun gear.

[0017] In the event of a sudden power outage or other emergency, the input motor and the ring electromagnet will stop power synchronously. The ring electromagnet will lose its magnetic force, and under the action of the reset component, the magnetic ring will move towards the secondary sun gear until it presses against the secondary sun gear. Since the rotation speeds of the magnetic ring and the secondary sun gear are different, friction will be generated between them under the action of the speed difference, thereby forcing the entire reducer to stop rotating.

[0018] Preferably, the reset component includes the same number of first springs as the slide rod, the first springs are located in the first slide groove, and the two ends of the first springs abut against the bottom wall of the first slide groove and the slide rod, respectively.

[0019] By adopting the above technical solution, the first spring, as a reset component, has a simple structure, low cost, and can stably act on the slide rod, providing a driving force towards the secondary sun gear side. This allows the brake pads to promptly press against the secondary sun gear when power is off, achieving reliable braking. Simultaneously, the first spring is installed within the first slide groove, without occupying additional space, ensuring the compactness of the braking module structure.

[0020] Preferably, the secondary sun gear has a wear-resistant plate coaxially arranged on the side facing the brake pad, and the brake pad and the wear-resistant plate have brake protrusions arranged circumferentially on the sides facing each other, with the length direction of the brake protrusions arranged radially along the brake pad and the wear-resistant plate.

[0021] By adopting the above technical solutions, the wear-resistant pads protect the secondary sun gear, increase the wear resistance of the contact area between the secondary sun gear and the brake pads, and extend the service life of the secondary sun gear. There are two ways to configure the brake ridges: one is to use them as anti-slip textures to increase the friction between the brake pads and the wear-resistant pads, improving braking performance and making the braking process faster and more stable; the other is to use the brake ridges as rigid abutments. After the brake pads and wear-resistant pads abut against each other, the brake ridges on both sides interlock sequentially. Due to the irreversible speed ratio of the two-stage transmission, the system will be completely locked due to the self-locking effect and immediately stop rotating, resulting in even better performance.

[0022] Preferably, the wire assembly limiting component includes two sets of single-sided limiting components, which are symmetrically arranged on the first bearing. Each set of single-sided limiting components includes a fixed rod, a movable rod, and a second spring. The fixed rod is fixedly arranged on the inner ring sidewall of the first bearing. The movable rod is slidably connected to the fixed rod along the radial direction of the first bearing. The end of the movable rod facing the axis of the first bearing is provided with a V-shaped bracket for limiting the wire assembly. The two ends of the second spring abut against the inner ring sidewall of the first bearing and the corresponding movable rod, respectively, for driving the two movable rods to move toward a side that is closer to each other.

[0023] By adopting the above technical solution, two sets of single-sided limiting components are symmetrically arranged on the first bearing. The combination of fixed rod, moving rod, and second spring can restrict the wire assembly from both sides, effectively preventing the wire assembly from shaking randomly inside the joint reducer and ensuring its positional stability. The V-shaped frame design at the end of the moving rod has a high degree of conformity with the shape of the wire assembly, resulting in better limiting effect. The second spring drives the two moving rods to move closer to each other, further enhancing the clamping force on the wire assembly, ensuring that the wire assembly remains stable even in complex motion environments, reducing wear caused by shaking and the first and second sun gears, and extending the service life of the wire assembly.

[0024] Preferably, the unilateral limiting member further includes a magnetic block, a third spring, and a deformable pull member. A second groove is formed on the upper edge of the side of the inner ring of the first bearing facing the annular electromagnet. The magnetic block slides along the axial direction of the first bearing in the second groove. The two ends of the third spring abut against the bottom wall of the second groove and the magnetic block, respectively. The third spring is used to drive the magnetic block to move towards the annular electromagnet. The elastic force of the third spring is greater than that of the second spring. A through hole is formed on the bottom wall of the second groove for the deformable pull member to pass through. The moving rod is located on the side of the fixed rod away from the input flange. One end of the deformable pull member is fixed to the magnetic block, and the other end of the deformable pull member extends out of the through hole and is fixed to the moving rod. When the annular electromagnet is energized, it generates a magnetic repulsion with the magnetic block.

[0025] By adopting the above technical solution, when the annular electromagnet is energized, the magnetic force generated between it and the magnetic block repulses each other, causing the magnetic block to slide away from the annular electromagnet, overcoming the elastic force of the third spring. The deformable pulling component then drives the moving rod to move outward, overcoming the elastic force of the second spring. This increases the distance between the two sets of moving rods, allowing the wire assembly to be easily inserted or removed, facilitating installation, replacement, and maintenance. When the annular electromagnet is de-energized, the elastic force of the third spring is greater than that of the second spring. The third spring drives the magnetic block to move towards the annular electromagnet, and the magnetic block retracts the deformable pulling component. The moving rods, under the action of the second spring, move towards each other until the V-frame clamps the wire assembly, ensuring that the wire assembly does not wobble or shift during robot movement. This effectively reduces friction between the wire assembly and other components, protecting the integrity of the wire assembly and providing a reliable guarantee for the stable operation of the braking module and the entire reducer. Furthermore, this design rationally utilizes magnetic force and spring force, resulting in a compact structure that does not occupy excessive space, further enhancing the practicality of the braking module and the overall performance of the compact robot joint reducer.

[0026] The robot joint device provided in this application adopts the following technical solution:

[0027] Compact robot joint reducers including any of the above.

[0028] The main technical effects of this invention are reflected in the following aspects:

[0029] 1. The braking module of this invention is integrated into the stepped part of the inner hole of the output flange, which makes full use of the space inside the output flange and realizes the braking function without increasing the axial dimension of the reducer, thus meeting the requirements of robot joints for compactness.

[0030] 2. This invention achieves rapid response and reliable braking of the brake pads through the cooperation of a ring electromagnet and a magnetic ring. In case of emergency such as sudden power failure, the input motor and the ring electromagnet stop power synchronously. The ring electromagnet loses its magnetic force. Under the action of the reset component, the magnetic ring moves towards the secondary sun gear until it presses against the secondary sun gear. Since the rotation speed of the magnetic ring and the secondary sun gear is different, they will generate friction under the action of the speed difference, thereby forcing the entire reducer to stop rotating. Attached Figure Description

[0031] Figure 1 This is a complete cross-sectional view of the joint reducer according to an embodiment of this application.

[0032] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0033] Figure 3 This is a schematic diagram of the brake pad structure according to an embodiment of this application.

[0034] Figure 4 This is a partial structural schematic diagram of the line group limiting component in an embodiment of this application.

[0035] Explanation of reference numerals in the attached diagram: 10. Internal gearbox mounting plate; 11. Double-stage internal gearbox; 12. First-stage sun gear; 13. First-stage planetary gears; 14. First-stage planetary carrier; 15. Second-stage sun gear; 151. Wear-resistant plate; 16. Second-stage planetary gears; 17. Second-stage planetary carrier; 18. Input flange; 19. Output flange; 20. Perforation; 21. Bearing sleeve; 22. Bearing outer ring pressure plate; 23. Needle roller shaft; 24. Deep groove ball bearing; 25. Crossed roller bearing; 26. Oil. 3. Braking module; 31. First bearing; 311. First slide groove; 312. Second slide groove; 313. Through hole; 32. Brake pad; 33. First spring; 34. Ring electromagnet; 35. Magnetic ring; 36. Abutment block; 37. Slide rod; 4. Wire assembly limiting component; 41. Fixed rod; 42. Moving rod; 421. V-shaped frame; 43. Second spring; 44. Magnetic block; 45. Third spring; 46. Deformable pulling component; 47. Braking protrusion. Detailed Implementation

[0036] The following is in conjunction with the appendix Figures 1-4 This application will be described in further detail to make the technical solution of this application easier to understand and master. Example

[0037] This application discloses a compact robot joint reducer.

[0038] Reference Figures 1-4 This embodiment of a compact robot joint reducer and joint device includes a primary sun gear 12, a secondary sun gear 15, a primary planetary gear set, a secondary planetary gear set, an internal gearbox mounting plate 10, a bipolar internal gearbox 11, an input flange 18, an output flange 19, and a braking module 3. The bipolar internal gearbox 11 includes two stages of internal gear rings, which mesh with the primary and secondary planetary gear sets respectively, and are fixed in the internal gearbox mounting plate 10 by screws. The primary sun gear 12 serves as the input power for the primary planetary gear set and meshes with the primary planetary gear set. The secondary sun gear... The second-stage sun gear 15 serves as the input power for the second-stage planetary gear set and meshes with the second-stage planetary gear set. The second-stage sun gear 15 is fixedly connected to the planet carrier of the first-stage planetary gear set. A bearing sleeve 21 is welded onto the first-stage sun gear 12. The input flange 18 is fixed to the bearing sleeve 21 with screws, and the output flange 19 is fixed to the planet carrier of the second-stage planetary gear set with screws. The input flange 18, the output flange 19, the first-stage sun gear 12, and the second-stage sun gear 15 are coaxially arranged. The first-stage sun gear 12 and the second-stage sun gear 15 are respectively provided with through holes 20 for the power supply line group to pass through.

[0039] Reference Figures 1-4 The braking module 3 includes a first bearing 31, a drive component, a brake pad 32, and a wire assembly restraint component 4. The inner hole of the output flange 19 has a stepped portion. The outer ring of the first bearing 31 is fixedly mounted on the stepped portion, and the wire assembly restraint component 4 is fixedly mounted on the inner ring of the first bearing 31 to restrict the wire assembly passing through. The brake pad 32 is positioned directly opposite the secondary sun gear 15. At least two sliding rods 37 are provided on the side of the brake pad 32 away from the secondary sun gear 15. A corresponding number of first sliding grooves 311 are formed on the outer ring of the first bearing 31. The sliding rods 37 are slidably connected to the corresponding first sliding grooves 311 along the axial direction of the input flange 18. The drive component is positioned between the brake pad 32 and the inner ring of the first bearing 31 to drive the brake pad 32 to move.

[0040] Reference Figures 1-4The braking module 3 is integrated into the stepped part of the inner hole of the output flange 19, making full use of the space inside the output flange 19. It achieves the braking function without increasing the axial dimension of the reducer, thus meeting the compactness requirements of the robot joint. At the same time, the wire assembly restrictor 4 restricts the wire assembly, which not only restricts the position of the wire assembly inside the joint, but also reduces the friction between the wire assembly and the first-stage sun gear 12 and the second-stage sun gear 15 caused by the shaking of the wire assembly during the robot's movement. This protects the wire assembly and ensures its stability. In addition, the wire assembly can restrict the rotation of the inner ring of the first bearing 31, thus providing conditions for the stable installation of the drive component.

[0041] Reference Figures 1-4 The first-stage planetary gear set includes a first-stage planetary carrier 14 and several first-stage planetary gears 13. The several first-stage planetary gears 13 are evenly arranged around the first-stage sun gear 12 and mesh with the first-stage sun gear 12. The several first-stage planetary gears 13 are simultaneously meshed with the corresponding internal gear rings of the bipolar internal gearbox 11. The first-stage planetary gears 13 are rotatably connected to the first-stage planetary carrier 14 through needle roller shafts 23. The first-stage planetary carrier 14 is rotatably connected to the bipolar internal gearbox 11 through deep groove ball bearings 24. The first-stage sun gear 12 is rotatably connected to the first-stage planetary carrier 14 through deep groove ball bearings 24.

[0042] Reference Figures 1-4 The secondary planetary gear set includes a secondary planetary carrier 17 and several secondary planetary gears 16. The several secondary planetary gears 16 are evenly surrounding the secondary sun gear 15 and meshing with the secondary sun gear 15. The several secondary planetary gears 16 are simultaneously meshing with the corresponding internal gear rings of the bipolar internal gearbox 11. The secondary planetary gears 16 are rotatably connected to the secondary planetary carrier 17 via needle roller shafts 23. The secondary planetary carrier 17 is rotatably connected to the internal gearbox mounting plate 10 via crossed roller bearings 25. The secondary sun gear 15 is coaxially welded to the primary planetary carrier 14. The output flange 19 is fixed to the end of the secondary planetary carrier 17 with screws.

[0043] Reference Figures 1-4 The installation structure of the first-stage and second-stage planetary gear sets is disclosed. The reasonable use of needle roller shaft 23, deep groove ball bearing 24 and crossed roller bearing 25 can not only ensure the flexible rotation of the planetary gears and planetary carrier, but also improve the load-bearing capacity and stability of the entire reducer.

[0044] Reference Figures 1-4To improve the stability of the crossed roller bearing 25, a bearing outer ring pressure plate 22 is fixed to the internal gearbox mounting plate 10 with screws to hold the outer ring of the crossed roller bearing 25 in place; the bearing sleeve 21 and the input flange 18 cooperate to limit the inner ring of the corresponding deep groove ball bearing 24. At the same time, oil seals 26 are installed between the first-stage sun gear 12 and the first-stage planetary carrier 14, between the second-stage sun gear 15 and the second-stage planetary carrier 17, and between the output flange 19 and the bearing outer ring pressure plate 22.

[0045] Reference Figures 1-4 The driving component includes a reset component, an annular electromagnet 34, and a magnetic ring 35. The annular electromagnet 34 is coaxially fixed on the side of the inner ring of the first bearing 31 facing the secondary sun gear 15. The power supply line of the annular electromagnet 34 and the power supply line of the input motor connected to the input flange 18 are powered by the same power supply. The magnetic ring 35 is coaxially fixed on the side of the brake pad 32 away from the second sun gear. The annular electromagnet 34 is directly opposite the magnetic ring 35. When the annular electromagnet 34 is energized, it attracts the magnetic ring 35.

[0046] Reference Figures 1-4 A contact block 36 is coaxially provided on the side of the outer ring of the first bearing 31 facing the second sun gear. When the magnetic ring 35 abuts against the contact block 36, there is always a gap between the annular electromagnet 34 and the magnetic ring 35. The reset member acts on the slide rod 37 to drive the slide rod 37 to move toward the side of the second-stage sun gear 15.

[0047] Reference Figures 1-4 The cooperation between the annular electromagnet 34 and the magnetic ring 35 enables the brake pad 32 to respond quickly and brake reliably. Since the annular electromagnet 34 and the input motor power line are powered by the same power source, the annular electromagnet 34 is always energized during normal operation, generating a magnetic force to attract the magnetic ring 35. After being attracted, the magnetic ring 35 is pressed against the abutment block 36 and does not directly contact the annular electromagnet 34. Therefore, when the joint reducer is running, the magnetic ring 35 rotates along with the output flange 19. Under the action of the wire group limiting member 4, the annular electromagnet 34 remains almost relatively stationary with the wire group. There is no direct friction between the annular electromagnet 34 and the magnetic ring 35. At the same time, the magnetic ring 35 is far away from the secondary sun gear 15 and does not affect the movement of the secondary sun gear 15.

[0048] Reference Figures 1-4 In the event of a sudden power outage or other emergency, the input motor and the annular electromagnet 34 will stop power synchronously. The annular electromagnet 34 will lose its magnetic force. Under the action of the reset component, the magnetic ring 35 will move toward the secondary sun gear 15 until it presses against the secondary sun gear 15. Since the rotation speed of the magnetic ring 35 and the secondary sun gear 15 is different, they will generate friction under the action of the speed difference, thereby forcing the entire reducer to stop rotating.

[0049] Reference Figures 1-4 The reset component includes the same number of first springs 33 as the slide bar 37. The first springs 33 are located in the first slide groove 311, and the two ends of the first springs 33 abut against the bottom wall of the first slide groove 311 and the slide bar 37, respectively.

[0050] Reference Figures 1-4 The first spring 33, acting as a reset component, has a simple structure, low cost, and can stably act on the slide rod 37, providing a driving force towards the secondary sun gear 15. This allows the brake pad 32 to promptly press against the secondary sun gear 15 when power is off, achieving reliable braking. Simultaneously, the first spring 33 is installed within the first slide groove 311, without occupying additional space, ensuring the compactness of the braking module 3 structure.

[0051] Reference Figures 1-4 The secondary sun gear 15 is coaxially provided with a wear-resistant plate 151 on the side facing the brake plate 32. The brake plate 32 and the wear-resistant plate 151 are respectively provided with brake protrusions 47 in the circumferential direction on the side facing each other. The length direction of the brake protrusions 47 is arranged in the radial direction of the brake plate 32 and the wear-resistant plate 151.

[0052] Reference Figures 1-4 The wear-resistant pad 151 protects the secondary sun gear 15, increases the wear resistance of the contact area between the secondary sun gear 15 and the brake pad 32, and extends the service life of the secondary sun gear 15. The brake ridge 47 has two configurations: one is to use it as an anti-slip texture to increase the friction between the brake pad 32 and the wear-resistant pad 151, improving braking performance and making the braking process faster and more stable; the other is to use it as a rigid abutment. After the brake pad 32 and the wear-resistant pad 151 abut against each other, the brake ridges 47 of both sides are interlocked sequentially. Due to the non-adjustable speed ratio of the two-stage transmission, the system will be completely locked due to the self-locking effect and immediately stop rotating, resulting in a better effect.

[0053] Reference Figures 1-4 The wire assembly limiting component 4 includes two sets of single-sided limiting components, which are symmetrically arranged on the first bearing 31. Each set of single-sided limiting components includes a fixed rod 41, a movable rod 42, and a second spring 43. The fixed rod 41 is fixedly arranged on the inner ring side wall of the first bearing 31. The movable rod 42 is slidably connected to the fixed rod 41 along the radial direction of the first bearing 31. The end of the movable rod 42 facing the axis of the first bearing 31 is provided with a V-shaped bracket 421 for limiting the wire assembly. The two ends of the second spring 43 abut against the inner ring side wall of the first bearing 31 and the corresponding movable rod 42, respectively, for driving the two movable rods 42 to move toward the side that is closer to each other.

[0054] Reference Figures 1-4Two sets of single-sided limiting components are symmetrically arranged on the first bearing 31. The combination of the fixed rod 41, the moving rod 42, and the second spring 43 can restrict the wire assembly from both sides, effectively preventing the wire assembly from shaking randomly inside the joint reducer and ensuring its positional stability. The V-shaped bracket 421 at the end of the moving rod 42 has a high degree of fit with the shape of the wire assembly, resulting in better limiting effect. The second spring 43 drives the two moving rods 42 to move closer to each other, further enhancing the clamping force on the wire assembly, ensuring that the wire assembly can remain stable even in complex motion environments, reducing wear caused by shaking and the first-stage sun gear 12 and the second-stage sun gear 15, and extending the service life of the wire assembly.

[0055] Reference Figures 1-4 The single-sided limiting component also includes a magnetic block 44, a third spring 45, and a deformable pull member 46. A second groove 312 is provided on the upper edge of the inner ring of the first bearing 31 facing the annular electromagnet 34. The magnetic block 44 slides along the axial direction of the first bearing 31 in the second groove 312. The two ends of the third spring 45 abut against the bottom wall of the second groove 312 and the magnetic block 44, respectively. The third spring 45 is used to drive the magnetic block 44 to move towards the annular electromagnet 34. The elastic force of the third spring 45 is greater than that of the second spring 43. A through hole 313 is provided through the bottom wall of the second groove 312 for the deformable pull member 46 to pass through. The moving rod 42 is located on the side of the fixed rod 41 away from the input flange 18. One end of the deformable pull member 46 is fixed to the magnetic block 44, and the other end of the deformable pull member 46 extends out of the through hole 313 and is fixed to the moving rod 42. When the annular electromagnet 34 is energized, it generates a magnetic repulsion with the magnetic block 44.

[0056] Reference Figures 1-4 When the annular electromagnet 34 is energized, the magnetic force generated between it and the magnetic block 44 repulses each other, causing the magnetic block 44 to slide away from the annular electromagnet 34 against the elastic force of the third spring 45. The deformable pulling member 46 drives the moving rod 42 to move outward against the elastic force of the second spring 43, thereby increasing the distance between the two sets of moving rods 42. The wire assembly can be put in or taken out more easily, which facilitates the installation, replacement and maintenance of the wire assembly.

[0057] Reference Figures 1-4When the annular electromagnet 34 is de-energized, the elastic force of the third spring 45 is greater than that of the second spring 43. The third spring 45 drives the magnetic block 44 to move towards the annular electromagnet 34. The magnetic block 44 drives the deformable pulling component 46 to retract, and the moving rod 42 moves towards each other under the action of the second spring 43 until the V-shaped frame 421 clamps the wire assembly, ensuring that the wire assembly will not shake or shift during the robot's movement. This effectively reduces friction between the wire assembly and other components, protects the integrity of the wire assembly, and also provides a reliable guarantee for the stable operation of the braking module 3 and the entire reducer. In addition, this design makes reasonable use of magnetic force and spring force, has a compact structure, does not occupy too much extra space, and further improves the practicality of the braking module 3 and the overall performance of the compact robot joint reducer.

[0058] Reference Figures 1-4 When energized, the electromagnet's magnetic poles are axially distributed. The first bearing 31 is a custom-made bearing, with both its inner and outer rings thicker than ordinary bearings to accommodate slotting modifications. The first bearing 31 also needs to be able to withstand a certain axial load, such as a tapered roller bearing or a four-point contact ball bearing. The wiring harness is generally a collection of control and power wires; the operator will initially bundle them before passing them through the through-hole 20. The power connection for the ring electromagnet 34 can be selected according to the actual situation; the power wire can be mixed in with the wiring harness or connected separately. In fixing the deformable tension member 46, both ends of the deformable tension member 46 can be fixed to the magnetic block 44 and the moving rod 42 by glue or welding. To reduce wear between the deformable tension member 46 and the inner ring of the first bearing 31, rounded corners are provided at appropriate positions on the inner ring of the first bearing 31. The sliding between the fixed rod 41 and the moving rod 42 uses an I-shaped or wedge-shaped slide rail. The deformable tension member 46 can be a rope or an elastic metal sheet, etc. Example

[0059] This application provides a robot joint device: including a joint, a drive motor, and the aforementioned robot joint reducer, with the joint and drive motor connected to the joint reducer; the joint includes at least two limbs, with adjacent limbs connected via the joint reducer; the drive motor is the power source, connected to the input shaft of the joint reducer via a coupling or other connection method, converting electrical energy into mechanical energy, and its output shaft is connected to the next limb, transmitting the reduced-speed, high-torque power to the next limb to drive its movement. Its installation, connection, and setting methods are all common mechanical methods.

[0060] Of course, the above are just typical examples of this application. In addition, this application may have many other specific implementation methods. All technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed in this application.

Claims

1. A compact robot joint reducer, characterized in that: The system includes a primary sun gear (12), a secondary sun gear (15), a primary planetary gear set, a secondary planetary gear set, a bipolar internal gearbox (11), an input flange (18), an output flange (19), and a braking module (3). The bipolar internal gearbox (11) meshes with the primary planetary gear set and the secondary planetary gear set respectively. The primary sun gear (12) serves as the input power for the primary planetary gear set and meshes with it. The secondary sun gear (15) serves as the input power for the secondary planetary gear set and meshes with it. The secondary sun gear (15) is fixedly connected to the planet carrier of the primary planetary gear set. The input flange (18) is connected to the primary sun gear (12), and the output flange (19) is connected to the planet carrier of the secondary planetary gear set. The primary sun gear (12) and the secondary sun gear (15) are respectively provided with through holes (20) for power supply lines to pass through. The braking module (3) includes a first bearing (31), a driving component, a brake pad (32), and a wire group limiting component (4). The outer ring of the first bearing (31) is fixedly mounted on the output flange (19). The wire group limiting component (4) is mounted on the inner ring of the first bearing (31) to limit the wire group passing through. The brake pad (32) is positioned opposite the secondary sun gear (15). The brake pad (32) is movably connected to the outer ring of the first bearing (31) along the axial direction of the input flange (18). The driving component is used to drive the brake pad (32) to move. It also includes an internal gearbox mounting plate (10), the bipolar internal gearbox (11) is fixed to the internal gearbox mounting plate (10) by screws, the first-stage planetary gear set includes a first-stage planet carrier (14) and several first-stage planetary gears (13), the several first-stage planetary gears (13) are evenly surrounding the first-stage sun gear (12) and meshing with the first-stage sun gear (12), the several first-stage planetary gears (13) are simultaneously meshing with the corresponding internal gear ring of the bipolar internal gearbox (11), the first-stage planetary gears (13) are rotatably connected to the first-stage planet carrier (14) by needle roller shafts (23), the first-stage planet carrier (14) is rotatably connected to the bipolar internal gearbox (11) by deep groove ball bearings (24), the first-stage sun gear (12) is rotatably connected to the first-stage planet carrier (14) by deep groove ball bearings (24), a bearing sleeve (21) is welded on the first-stage sun gear (12), and the input flange (18) is fixed to the bearing sleeve (21) by screws; The secondary planetary gear set includes a secondary planetary carrier (17) and several secondary planetary gears (16). The several secondary planetary gears (16) are evenly arranged around the circumferential outer side of the secondary sun gear (15) and mesh with the secondary sun gear (15). The several secondary planetary gears (16) are simultaneously meshed with the corresponding internal gear rings of the bipolar internal gearbox (11). The secondary planetary gears (16) are rotatably connected to the secondary planetary carrier (17) via needle roller shafts (23). The secondary planetary carrier (17) is rotatably connected to the internal gearbox mounting plate (10) via crossed roller bearings (25). The secondary sun gear (15) is coaxially welded to the primary planetary carrier (14). The output flange (19) is fixed to the end of the secondary planetary carrier (17) by screws.

2. A compact robot joint reducer according to claim 1, characterized in that: At least two slide rods (37) are provided on the side of the brake pad (32) away from the secondary sun gear (15). A corresponding number of first slide grooves (311) are provided on the outer ring of the first bearing (31). The slide rods (37) are slidably connected to the corresponding first slide grooves (311) along the axial direction of the input flange (18). The driving member is disposed between the brake pad (32) and the inner ring of the first bearing (31) for driving the brake pad (32) to move. The driving component includes a reset component, an annular electromagnet (34), and a magnetic ring (35). The annular electromagnet (34) is coaxially fixed on the side of the inner ring of the first bearing (31) facing the second-stage sun gear (15). The power supply line of the annular electromagnet (34) and the power supply line of the input motor connected to the input flange (18) are powered by the same power supply. The magnetic ring (35) is coaxially fixed on the side of the brake pad (32) away from the second sun gear. The annular electromagnet (34) is directly opposite the magnetic ring (35). When the annular electromagnet (34) is energized, it attracts the magnetic ring (35). The outer ring of the first bearing (31) is coaxially provided with an abutment block (36) on the side facing the second sun gear. When the magnetic ring (35) abuts against the abutment block (36), there is always a gap between the annular electromagnet (34) and the magnetic ring (35). The reset member acts on the slide rod (37) to drive the slide rod (37) to move towards the side of the second-stage sun gear (15).

3. A compact robot joint reducer according to claim 2, characterized in that: The reset component includes the same number of first springs (33) as the slide bar (37). The first springs (33) are located in the first groove (311), and the two ends of the first springs (33) abut against the bottom wall of the first groove (311) and the slide bar (37), respectively.

4. A compact robot joint reducer according to claim 2, characterized in that: The secondary sun gear (15) has a wear-resistant plate (151) coaxially arranged on one side facing the brake pad (32). The brake pad (32) and the wear-resistant plate (151) are respectively provided with brake protrusions (47) along the circumferential direction on the opposite side. The length direction of the brake protrusions (47) is arranged along the radial direction of the brake pad (32) and the wear-resistant plate (151).

5. A compact robot joint reducer according to claim 2, characterized in that: The wire assembly limiting member (4) includes two sets of single-sided limiting members, which are symmetrically arranged on the first bearing (31). Each set of single-sided limiting members includes a fixed rod (41), a movable rod (42), and a second spring (43). The fixed rod (41) is fixedly arranged on the inner ring side wall of the first bearing (31). The movable rod (42) is slidably connected to the fixed rod (41) along the radial direction of the first bearing (31). The end of the movable rod (42) facing the axis of the first bearing (31) is provided with a V-shaped bracket (421) for limiting the wire assembly. The two ends of the second spring (43) respectively abut against the inner ring side wall of the first bearing (31) and the corresponding movable rod (42), for driving the two movable rods (42) to move toward the side that is closer to each other.

6. A compact robot joint reducer according to claim 5, characterized in that: The unilateral limiting member further includes a magnetic block (44), a third spring (45), and a deformable tension member (46). A second groove (312) is provided on the upper edge of the inner ring of the first bearing (31) facing the annular electromagnet (34). The magnetic block (44) slides along the axial direction of the first bearing (31) in the second groove (312). The two ends of the third spring (45) abut against the bottom wall of the second groove (312) and the magnetic block (44), respectively. The third spring (45) is used to drive the magnetic block (44) to move towards the annular electromagnet (34). The elastic force of the third spring (45) is greater than that of the second spring (43); a through hole (313) is provided on the bottom wall of the second slide groove (312) for the deformable pull member (46) to pass through; the moving rod (42) is located on the side of the fixed rod (41) away from the input flange (18); one end of the deformable pull member (46) is fixed on the magnetic block (44); the other end of the deformable pull member (46) extends out of the through hole (313) and is fixed on the moving rod (42); when the annular electromagnet (34) is energized, it generates a magnetic repulsion with the magnetic block (44).

7. A robot joint device comprising the compact robot joint reducer as described in any one of claims 1-6.

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